jsim.api.SimRobot Class Reference

Classes
class	RobotState

Public Member Functions
GamepieceZone	createGamepieceZone (String name, Transform3d[] zoneDimensions, Rotation3d robotRotation)
GamepieceZone	getGamepieceZone (String name)
Map< String, GamepieceZone >	getGamepieceZones ()
Pose2d	getPose ()
Pose2d	getOdometryPose ()
Translation2d[]	getFrameVertices ()
ChassisSpeeds	getVelocity ()
void	resetPose (Pose2d pose)
void	setChassisSpeeds (ChassisSpeeds speeds)
void	update (double dtSeconds)
RobotID	getRobotID ()

Static Public Member Functions
static SimRobot	createRobot (RobotID id, Translation2d[] frameDimensions)
static SimRobot	getRobot (RobotID id)

Protected Member Functions
	SimRobot (RobotID id, FieldState< RobotState > stateRef)

Detailed Description

External interface for simulated FRC Robots interacting with JSim.

Constructor & Destructor Documentation

SimRobot()

jsim.api.SimRobot.SimRobot ( RobotID id, FieldState< RobotState > stateRef )

inlineprotected

Protected constructor. Use SimRobot.createRobot().

Parameters

id	The RobotID for this robot.
stateRef	The field state reference for this robot.

Member Function Documentation

createGamepieceZone()

GamepieceZone jsim.api.SimRobot.createGamepieceZone ( String name, Transform3d[] zoneDimensions, Rotation3d robotRotation )

inline

Creates a gamepiece zone tied to this robot.

Parameters

name	the zone name used for retrieval
zoneDimensions	the zone polygon dimensions relative to the robot center
robotRotation	the zone rotation relative to the robot

Returns

a new zone registered for simulation refreshes

Exceptions

IllegalArgumentException

if a zone with the same name already exists

createRobot()

SimRobot jsim.api.SimRobot.createRobot ( RobotID id, Translation2d[] frameDimensions )

inlinestatic

Initializes a new robot via the unified StateManager tracking system.

Parameters

id	The logical driver station id.
frameDimensions	Translation2d[] for each vertex of the frame perimeter

Returns

the instantiated SimRobot handle.

getFrameVertices()

Translation2d[] jsim.api.SimRobot.getFrameVertices ( )

inline

Returns the robot frame perimeter vertices used to build the robot body.

Returns

cloned frame perimeter vertices

getGamepieceZone()

GamepieceZone jsim.api.SimRobot.getGamepieceZone ( String name )

inline

Retrieves a previously created gamepiece zone by name.

Parameters

name	the zone name

Returns

the registered zone, or null if none exists

getGamepieceZones()

Map< String, GamepieceZone > jsim.api.SimRobot.getGamepieceZones ( )

inline

Returns all gamepiece zones registered on this robot.

Returns

an immutable view of the named zones

getOdometryPose()

Pose2d jsim.api.SimRobot.getOdometryPose ( )

inline

Retrieves the current odometry pose. This is always the commanded pose, not the physics body pose. Used internally for syncing with the physics engine.

Returns

the current odometry pose of the robot.

getPose()

Pose2d jsim.api.SimRobot.getPose ( )

inline

Retrieves the current field-relative physics pose when physics is attached. Falls back to the commanded pose until a physics body is registered.

Returns

the current pose of the robot.

getRobot()

SimRobot jsim.api.SimRobot.getRobot ( RobotID id )

inlinestatic

Retrieves a previously created robot by driver-station id.

Parameters

id	the robot identifier

Returns

the registered robot, or null if none exists

getRobotID()

RobotID jsim.api.SimRobot.getRobotID ( )

inline

Gets the RobotID for this robot.

Returns

the RobotID assigned to this robot.

getVelocity()

ChassisSpeeds jsim.api.SimRobot.getVelocity ( )

inline

Returns the robot's current measured chassis velocity when physics is attached. Falls back to the last commanded chassis speeds until a body is registered.

Returns

the current chassis velocity snapshot

resetPose()

void jsim.api.SimRobot.resetPose ( Pose2d pose )

inline

Hard overrides the state manager's simulation pose for this robot.

Parameters

pose	the new pose to set for the robot.

setChassisSpeeds()

void jsim.api.SimRobot.setChassisSpeeds ( ChassisSpeeds speeds )

inline

Applies commanded speeds to the physics solver.

Parameters

speeds

the chassis speeds to apply.

update()

void jsim.api.SimRobot.update ( double dtSeconds )

inline

Advances the robot state by one simulation tick.

Parameters

dtSeconds

timestep in seconds

---

The documentation for this class was generated from the following file:

• src/main/java/jsim/api/SimRobot.java